WO2013155034A3 - Electronic emergency-stop braking circuit for robotic arms - Google Patents
Electronic emergency-stop braking circuit for robotic arms Download PDFInfo
- Publication number
- WO2013155034A3 WO2013155034A3 PCT/US2013/035709 US2013035709W WO2013155034A3 WO 2013155034 A3 WO2013155034 A3 WO 2013155034A3 US 2013035709 W US2013035709 W US 2013035709W WO 2013155034 A3 WO2013155034 A3 WO 2013155034A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- charge
- circuitry
- power failure
- robotic arms
- motor
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details
Abstract
Representative embodiments of a system for braking a cyclically rotating motor upon a power failure include (i) charge-storage circuitry for storing charge and converting the stored charge to an output voltage upon power failure; (ii) one or more passive electrical elements for conducting current induced by motor rotations; and (iii) voltage-actuated circuitry connected to the passive electrical element and the charge-storage circuitry for braking the motor during each half- cycle of motor rotation. The circuitry is inactive until actuated by the charge-storage circuitry upon power failure.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP13723582.6A EP2836339B1 (en) | 2012-04-13 | 2013-04-09 | Electronic emergency-stop braking circuit for robotic arms |
JP2015505844A JP6176865B2 (en) | 2012-04-13 | 2013-04-09 | Electronic emergency stop braking circuit for robot arm |
CN201380019810.5A CN104245251B (en) | 2012-04-13 | 2013-04-09 | For the electronic urgent of mechanical arm-stop braking circuit |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/446,650 | 2012-04-13 | ||
US13/446,650 US9114536B2 (en) | 2012-04-13 | 2012-04-13 | Electronic emergency-stop braking circuit for robotic arms |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2013155034A2 WO2013155034A2 (en) | 2013-10-17 |
WO2013155034A3 true WO2013155034A3 (en) | 2013-12-05 |
Family
ID=48464066
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2013/035709 WO2013155034A2 (en) | 2012-04-13 | 2013-04-09 | Electronic emergency-stop braking circuit for robotic arms |
Country Status (5)
Country | Link |
---|---|
US (1) | US9114536B2 (en) |
EP (1) | EP2836339B1 (en) |
JP (1) | JP6176865B2 (en) |
CN (1) | CN104245251B (en) |
WO (1) | WO2013155034A2 (en) |
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US9962833B2 (en) * | 2015-04-07 | 2018-05-08 | Mtm Robotics, Llc | System and method for adjusting end-effector actuation based on relative position with respect to gravitational force |
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DE102015116609A1 (en) * | 2015-09-30 | 2017-03-30 | Sami Haddadin | joint device |
US10025299B2 (en) | 2015-10-06 | 2018-07-17 | Mtm Robotics, Llc | System and method for self-contained modular manufacturing device having nested controllers |
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US10252421B2 (en) | 2015-10-06 | 2019-04-09 | Mtm Robotics Llc | Self-contained modular manufacturing tool |
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US10848080B2 (en) * | 2016-08-08 | 2020-11-24 | Nidec Servo Corporation | Motor drive circuit |
CN107877514A (en) * | 2017-10-20 | 2018-04-06 | 深圳市睿科智联科技有限公司 | A kind of flexible braking circuit, robot arm and robot for robot arm |
JP6964024B2 (en) * | 2018-03-19 | 2021-11-10 | 川崎重工業株式会社 | Short circuit device and robot system equipped with it |
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CN110039574B (en) * | 2019-04-24 | 2021-02-05 | 北京猎户星空科技有限公司 | Robot braking circuit, robot braking method and device |
JP7299099B2 (en) * | 2019-08-06 | 2023-06-27 | ニデックインスツルメンツ株式会社 | Robot stopping method and robot system |
JP2022042126A (en) * | 2020-09-02 | 2022-03-14 | セイコーエプソン株式会社 | Robot control device and robot system |
TWI758926B (en) * | 2020-10-27 | 2022-03-21 | 達明機器人股份有限公司 | Safety monitor system and method for diagnosing abnormality of the same in robot |
CN113017666A (en) * | 2021-02-05 | 2021-06-25 | 明峰医疗系统股份有限公司 | Anti-falling brake circuit of diagnostic bed and CT scanning bed |
US11855572B2 (en) | 2021-11-09 | 2023-12-26 | Nidec Motor Corporation | System and method for increasing braking performance under multi-phase shorting |
US11784589B2 (en) | 2021-11-09 | 2023-10-10 | Nidec Motor Corporation | Safety switching system and method for braking electric motor |
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DE102007059492A1 (en) * | 2007-12-11 | 2009-06-18 | Kuka Roboter Gmbh | industrial robots |
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-
2012
- 2012-04-13 US US13/446,650 patent/US9114536B2/en active Active
-
2013
- 2013-04-09 WO PCT/US2013/035709 patent/WO2013155034A2/en active Application Filing
- 2013-04-09 EP EP13723582.6A patent/EP2836339B1/en active Active
- 2013-04-09 CN CN201380019810.5A patent/CN104245251B/en active Active
- 2013-04-09 JP JP2015505844A patent/JP6176865B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4767970A (en) * | 1986-12-22 | 1988-08-30 | Ampex Corporation | Dynamic brake control for a tape drive system |
JPH0389879A (en) * | 1989-09-01 | 1991-04-15 | Matsushita Electric Ind Co Ltd | Control device for motor |
JP2007037301A (en) * | 2005-07-27 | 2007-02-08 | Denso Wave Inc | Robot control device |
DE102007059492A1 (en) * | 2007-12-11 | 2009-06-18 | Kuka Roboter Gmbh | industrial robots |
Also Published As
Publication number | Publication date |
---|---|
WO2013155034A2 (en) | 2013-10-17 |
CN104245251A (en) | 2014-12-24 |
JP6176865B2 (en) | 2017-08-09 |
EP2836339A2 (en) | 2015-02-18 |
US20130271046A1 (en) | 2013-10-17 |
JP2015519857A (en) | 2015-07-09 |
EP2836339B1 (en) | 2017-07-12 |
US9114536B2 (en) | 2015-08-25 |
CN104245251B (en) | 2016-05-25 |
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